Date of Award
6-26-2024
Document Type
Thesis
Degree Name
Mechanical Engineering, MSME
First Advisor
Shivan Haran
Second Advisor
Ilwoo Seok
Committee Members
Paul Minor
Call Number
LD 251 .A566t 2024 K55
Abstract
In computer science, the Multiple Travelling Salesman Problem (mTSP) is a special case of Travelling Salesmen where one salesman travels through a network of cities (end nodes) and goes back to the starting city (start node) rather than stopping at the targeted end node. Numerous search and optimization algorithms are used to find the most time-efficient path for the salesman to visit each node. In this work 3 optimization methods and algorithms such as linear programming and A* pathfinding are utilized and compared to solve the mTSP applied to a 3 degrees-of-freedom pick-and-place robot that uses computer vision to detect and sort objects on a 2D workspace. Simulation results suggest that the A* pathfinding algorithm, which is a special case of dynamic programming, will most of the time provide better performance compared to other optimization methods such as divide and conquer or linear programming.
Rights Management
This work is licensed under a Creative Commons Attribution 4.0 International License.
Recommended Citation
Kilula, Dan, "Design Of a Pick-And-Place Robot with Computer Vision and Optimized Sorting Algorithms" (2024). Student Theses and Dissertations. 82.
https://arch.astate.edu/all-etd/82
